Maneuvering a package following in-flight release from an unmanned aerial vehicle (UAV)

ABSTRACT

A package launch system can be implemented to propel a package from an unmanned aerial vehicle (UAV) in a generally vertically descent trajectory, while the UAV is in motion. The package launch system can apply the force onto the package in a number of different ways. For example, flywheels, coils, and springs can generate the force that establishes the vertical descent path of the package. Further, the package delivery system can also monitor the package during its vertical descent. The package can be equipped with one or more control surfaces. Instructions can be transmitted from the UAV via an RF module that cause the one or more controls surfaces to alter the vertical descent path of the package to avoid obstructions or to regain a stable orientation.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of, and claims priority to U.S.application Ser. No. 15/359,512, filed on Nov. 22, 2016 and entitled“Maneuvering a Package Following In-Flight Release From an UnmannedAerial Vehicle (UAV)”, which claims priority to commonly owned, U.S.application Ser. No. 14/752,671, filed on Jun. 26, 2015, and entitled“Maneuvering a Package Following In-Flight Release from an UnmannedAerial Vehicle (UAV)”, issued as U.S. Pat. No. 9,567,081 on Feb. 14,2017, both of which are herein incorporated by reference in theirentirety.

BACKGROUND

Historically, package delivery systems rely on a spoke-hub distributionmodel. For example, to ship a package between an origin and destination,a vehicle has to pick-up the parcel and deliver it to a sorting centerbefore commencing a final delivery destination. This model works wellfor reducing the cost of shipment when it is possible to aggregatepackages that share a big part of the journey from origin todestination. However, it becomes inefficient, if the ability toaggregate packages is diminished because of a lack of proximity betweendelivery destinations. Further inefficiencies are apparent whentransportation infrastructure itself does not allow for direct routesbetween an origin and destination.

The use of Unmanned Aerial Vehicles (UAV) can overcome some of theseinefficiencies by leveraging more flexible aerial transportation pathsbetween destinations, rather than relying on rigid road infrastructure.Flexible flight plans allow for more direct delivery routes, and in somecases, an aggregation of more packages that share delivery destinationsthat are in close proximity to one another. However, the use of UAVspresents their own inefficiencies. In order to deliver a package to adestination, a UAV is required to ‘drop off’ the package. Traditionally,this involves the UAV landing at the destination, releasing the package,and then taking off to its next destination. The sequence of landing andtaking off for each package delivery creates time and energy resourceinefficiencies, which negate at least a portion of the benefit ofadopting a network system of UAVs.

BRIEF DESCRIPTION OF THE DRAWINGS

The detailed description is described with reference to the accompanyingfigures. In the figures, the left-most digit(s) of a reference numberidentifies the figure in which the reference number first appears. Thesame reference numbers in different figures indicate similar oridentical items.

FIG. 1 is a pictorial flow diagram of an illustrative process offorcefully propelling a package from an Unmanned Flight Vehicle (UAV)while the UAV is still in motion. FIG. 1 further illustrates causing thepackage to adopt a vertical descent path from the UAV, while alsocausing the package to deploy a control surface to maneuver the packagein an intended direction prior to landing.

FIGS. 2A and 2B are pictorial flow diagrams of an illustrative launchmechanism on a UAV forcefully propelling a package from the UAV. In FIG.2A, the package is attached onto the UAV is a transportationconfiguration. In FIG. 2B, the launch mechanism applies a force onto thepackage, forcefully propelling the package from the UAV.

FIGS. 3A, 3B, and 3C are pictorial flow diagrams of an illustrativepackage launch mechanism that uses a parachute to forcefully launch thepackage from the UAV. In FIG. 3A, a parachute is deployed from a side ofthe package to force the package to slide along a guide rail of the UAV.In FIG. 3B, the force generated by the parachute causes the package todislodge from the UAV. In FIG. 3C, the parachute dislodges from thepackage, causing the package to commence its vertical descenttrajectory.

FIGS. 4A, 4B, and 4C are pictorial flow diagrams of an illustrativepackage launch mechanism that includes a lever arm. The lever arm canamplify the release force that is nominally generated by the motion of acoupling structure along the UAV guide rail. In FIG. 4A, the package isattached onto the lever arm in a transportation configuration. In FIG.4B, the launch mechanism applies a force onto the package by moving thecoupling structure along the guide rail and rotating the lever arm aboutits pivot point. FIG. 4C illustrates a side elevation view of a UAV witha wire coil assembly. In some embodiments, the package can be attachedto a coil of wire that can lower the package towards ground level. FIG.4C further depicts an embodiment whereby the coil of wire is securedonto a flywheel assembly that rotates in a circular motion. In doing so,the circular motion of the coil of wire can initiate a centripetal forceon the package that progressively increases while the package islowered. FIG. 4D illustrates a bottom plan view of the coil of wire,flywheel, and electric motor assembly that is used to generate thecentripetal force on the package. Note that the main body of the UAV isomitted from FIG. 4D for clarity.

FIGS. 5A through 5G illustrate a package that includes a plurality ofcontrol surfaces. FIG. 5A illustrates a side elevation view of thepackage. The package includes a unique marking on each side surface anda plurality of control surfaces that may be deployed to change adirection of the package during freefall to the ground. FIG. 5A furtherillustrates a deployment of one or more control surfaces. FIG. 5B is atop plan view of the package that illustrates the unique marking on thelid of the package and a top plan view of the plurality of controlsurfaces. FIG. 5C illustrates a side elevation view of the package withtop side control surfaces that deploy from a lid of the package. FIG. 5Cfurther illustrates one top side control surface in a deployed position,and one top side control surface in a stowed position. FIG. 5D is a topplan view of four top side control surfaces installed on the package.FIG. 5E illustrates a side elevation view of the package with aplurality of vertical fins. FIG. 5F illustrates a top plan view ofpackage with four vertical fins. FIG. 5F further illustrates twovertical fins in a deployed position and two vertical fins in a stowedposition. FIG. 5G illustrates a side elevation view of the package witha plurality of parachutes in a deployed position.

FIGS. 6A and 6B illustrate an example package that includes a pluralityof compressed air canisters. FIG. 6A is a side elevation view of apackage that includes a color imprint on each side surface and aplurality of compressed air canisters attached to each side of thepackage. FIG. 6B is a top plan view of the package that illustrates acolor imprint on a lid of the package and a top plan view of theplurality of compressed air canisters attached to each side of thepackage.

FIG. 7 is a block diagram of components of an example package launchcontroller that supports package delivery by an unmanned aerial vehicle.

FIG. 8 is a flow diagram of a package delivery system on an UAV causingthe launch of a package. The flow diagram further describes monitoringthe descent of package to transmitting signals to deploy controlsurfaces on the package to ensure safe delivery to the deliverydestination.

FIG. 9 is a flow diagram of package receiving an RF signal from a UAVand deploying one or more control surfaces in response to the RF signal.

DETAILED DESCRIPTION

This disclosure provides a package delivery system that forcefullypropels packages from an unmanned aerial vehicle (UAV), while the UAV isin motion. The UAV can apply a force onto the package that is sufficientto alter the descent trajectory of the package from a parabolic path toa vertical descent path.

If a package is dropped from the UAV, while the UAV is in motion, thedescent path of the package will follow a parabolic trajectory unlessthe package is forcefully ejected or released from the UAV. The slope ofthe parabolic trajectory is influenced by the acceleration of the UAV atthe time the package is released. To a lesser extent, air resistance inthe form of drag and wind can also affect the shape and slope of thedescent path. This disclosure describes a number of ways by which aforce can be applied onto the package at the time the package isreleased from the UAV. The applied force is intended to be equal andopposite the acceleration of the UAV motion such that the resultingpackage descent path is a vertical descent trajectory.

A technical advantage of incorporating a package delivery system into aUAV is that the sequence of a UAV landing and taking off for eachpackage delivery can be eliminated, thereby creating time and energyresource efficiencies that improve the benefit of adopting a networksystem of UAVs. Further, an ability to cause a package to descendthrough a vertical trajectory rather than a parabolic trajectory can beadvantageous when attempting a delivery in an area with limited openspace, such as an alley or a fenced back yard.

In some embodiments, the package can include a unique marking on aplurality of external surfaces. The unique marks on each side surface ofthe package can be different in color. An advantage of using differentcolors is that when viewed from the UAV, the UAV can confirm thetrajectory path of the package by determining which unique marks of thepackage that are visible through an optical sensor. In various examples,the UAV can transmit instructions to the package via a radio frequency(RF) transmitter. The instructions can include deploying one or morecontrol surfaces that are a part of the package. In various examples,the one or more control surfaces can include flat panels that protrudeinto the airstream to generate a drag force. In some examples, the oneor more control surfaces may retain an airfoil cross-section, similar toflaps and slats on a fixed wing aircraft. In other examples, the one ormore control surfaces can include parachutes, or compressed aircanisters. As discussed in more detail below, the one or more controlsurfaces can alter the vertical descent path of the package to avoidobstructions, such as trees, or other structures such as carports,balconies, power lines, eaves, etc. In other examples, the verticaldescent path can be altered to slip the package onto a balcony ofhigh-rise building.

The techniques, apparatus, and systems described herein may beimplemented in a number of ways. Example implementations are providedbelow with reference to the following figures.

FIG. 1 is a pictorial flow diagram that illustrates a process offorcefully propelling a package from a UAV 102 while in motion todeliver the package 104 to a destination that is directly beneath theUAV. The UAV 102 can be winged-craft, a rotor-craft, or hybrid aircraftthat is capable of transporting packages by air from an originationlocation (e.g. at a fulfillment center or near a fulfillment center) toa destination and returning to the origination location.

At block 106, the UAV 102 can be loaded with a package 104 for deliveryto a destination. In some examples, the package can be coupled to apackage launch mechanism that is part of the UAV 102. As described inmore detail in FIG. 2, the package launch mechanism can apply a forceonto the package at the time the package is released from the UAV 102.In some examples, the applied force can alter the descent trajectory ofthe package.

At block 108, the UAV 102 can release the package while the UAV is inmotion and flying at a particular altitude. In some examples, theparticular altitude can range from 10-20 feet above the deliverydestination. In other examples, the particular altitude can be 500 ft.above the delivery destination. At block 108, the UAV 102 can apply arelease force onto the package, via a package launch mechanism. Therelease force can be substantially equal and opposite to a force that isequivalent to the acceleration of the UAV 102. In doing so, resultantforce on the package 104 can cause the descent trajectory of the package104 to change from a parabolic trajectory that runs in the direction ofthe UAV 102, to a vertical descent trajectory.

In various examples, the force applied onto the package can be is lessthan or greater than a force equivalent to the acceleration of the UAV102. In one non-limiting example, the UAV 102 may be flying into aheadwind. A headwind can alter the shape of the package descent pathfrom a parabolic trajectory to a more vertical descent path. In thisexample, the force applied onto the package can be reduced bycompensating for the change in descent path that has been caused by theheadwind. Alternatively, the UAV 102 may be flying into a tailwind,which causes the shape of the package descent path to reflect a longerparabolic trajectory. In this alternate example, the force applied ontothe package can be increased to negate the effect of the tail wind aswell as the acceleration of the UAV 102.

In some examples, the release force applied onto the package can bevaried to compensate for other factors, such as aerodynamic drag on thepackage. In various packages, packages can be subject to aerodynamicdrag. Aerodynamic drag can cause a package to decelerate in a horizontaldirection, thereby creating a steeper parabolic descent path than whatwould normally occur in the absence of such drag. Therefore, aconsequence of the deceleration is that the release force applied by theUAV 102 can be reduced by compensating for the change in the descentpath that has been caused by the aerodynamic drag.

In various examples, the amount of release force applied by the UAV 102can be proportional to the surface area of the package 104 that isperpendicular to the horizontal motion of the UAV 102. For example, theamount of deceleration caused by aerodynamic drag is proportional to thesurface area of the package that is perpendicular to the horizontalmotion of the UAV 102. Therefore, a package with a large surface areathat is perpendicular to the horizontal motion of the UAV 102 can inducea significant amount of drag, causing the descent path of the package totend more closely towards a vertical descent path. As a result, therelease force applied by the UAV 102 can be further reduced bycompensating for the aerodynamic drag caused by a larger surface area.

Moreover, at block 108, an advantage of applying a release force onto apackage 104 is that an equal and opposite reaction force is applied ontothe UAV 102. The reaction force occurs in a direction that correspondsto the horizontal motion of UAV 102. Therefore, by applying a releaseforce onto the package 104, UAV 102 can receive a boost of accelerationin its direction of motion. The boost of acceleration can assist the UAV102 to climb to a higher cruise altitude or accelerate at the currentcruise altitude towards its next destination.

At block 110, the UAV 102 can monitor the descent path of the package104 can cause a deployment of one or more control surfaces that adjustthe descent path of the package 104. In various examples, the one ormore control surfaces can include flat panels that protrude into theairstream to generate a drag force. In some examples, the one or morecontrol surfaces may retain an airfoil cross-section, similar to flapsand slats on a fixed wing aircraft. In other examples, the one or morecontrol surfaces can include parachutes, or compressed air canisters. Insome examples, the vertical descent path can be altered to avoidobstructions, such as trees, or other structures such as carports. Insome examples, the UAV 102 can be equipped with a radio frequencytransmitter that can transmit a radio signal to the package 104. Theradio signal can cause the deployment of the one or more controlsurfaces.

In some examples, the UAV 102 can be further equipped with one or moreoptical sensors, such as a digital camera, that monitors the package 104during its descent. As discussed in more detail below in FIG. 5, theoptical sensors can monitor a view of unique marks of the package. Insome examples, the package 104 can include unique marks on each top,bottom, and side surface. The unique marks on each surface can bedifferent in color, such that when viewed via an optical sensor of theUAV 102, the UAV 102 can discern a descent trajectory based on whichcolors are in view. For example, if the optical sensors intermittentlyview some unique marks, the UAV 102 may deduce that the package 104 isspinning. In response, the UAV 102 may deploy all control surfaces tostabilize the package descent. In other examples, based on the uniquemarks that can be viewed from the UAV 102, the UAV 102 may determinethat the package is likely to strike an obstruction. In response, theUAV 102 may deploy one or more control surfaces that guide the packageto a safer ground location away from the obstruction. For example, whena control surface is deployed, a portion of the control surfaceprotrudes into the airstream. During descent, the protruding portion ofthe control surface generates drag. The drag subsequently acts as anupward force on the package, causing the package to pivot about itscenter of gravity and ultimately change trajectory.

FIGS. 2A and 2B are pictorial flow diagrams of a UAV 202 carrying apackage 204 and forcefully propelling the package 204 from the UAV 202via a launch mechanism. In various examples, the launch mechanism caninclude a guide rail 206, a coupling structure 208, and an actuatordevice 210. In some examples, the guide rail 206 can be rigidly attachedonto the UAV 202. The guide rail 206 can comprise of a longitudinalmember having a uniform cross-section. In various examples, guide railcan be attached to the UAV 202 at each end position. The couplingstructure 208 can act as an interface between the package 204 and theUAV 202, by interfacing with the package 104 and the guide rail 206. Thecoupling structure 208 can include a release joint that interfaces withthe package 204. For example, in response to being subjected to aparticular force, the coupling structure 208 may dislodge from thepackage 204. In various examples, the release joint may comprise of apre-tensioned clamp. In other examples, the release joint may compriseof a ball-socket joint. In both examples, a particular amount of forcecan cause the pre-tensioned clamp to open or the ball fitting todislodge from a corresponding socket joint. In some examples, therelease force can correspond to the release force that is applied to thepackage to alter the descent path of the package to a vertical descenttrajectory.

In some examples, a cross-section of the coupling structure 208 caninclude an aperture that is complementary to at least a portion of theguide rail 206 cross-section. In this example, the guide rail 206 can beslotted into the aperture of the coupling structure 208, allowing thecoupling structure 208 to traverse along the length of the guide rail206.

In some examples, the launch mechanism can include an actuator device210. As illustrated in FIG. 2B, the actuator device 210 can cause thecoupling structure 208 to remain in a fixed position along the guiderail 206 during a transportation phase of the package delivery. Asillustrated in FIG. 2A, the fixed position can correspond to a positionat the longitudinal center of the guide rail 206.

In some examples, the actuator device 210 can cause the couplingstructure 208 and attached package 204, to accelerate along the guiderail 206 from a first position to a second position. In the illustratedexample, the first position can correspond to a position at thelongitudinal center of the guide rail 206. Further, the second positioncan correspond an end position of the guide rail 206. In variousexamples, the force applied by the actuator device 210 to the couplingstructure 208 can correspond to the force that is required to dislodgethe package 204 from the coupling structure 208. In some examples, theforce applied by the actuator device 210 can also correspond to theforce that is intended to alter the package 204 descent path from aparabolic trajectory to a vertical trajectory.

In various examples, the actuator device 210 can comprise of a pneumaticactuator, a spring actuator, or any other actuator device that isconfigured to store and release kinetic energy within a predeterminedperiod of time. In some examples, the period of time is proportional tothe force that is to be generated by moving the coupling structure 208over the guide rail 206.

In some examples, the launch mechanism can comprise only of a guide rail206 and the coupling structure 208. Rather than including an actuatordevice 210 to forcefully propel the package 204, the launch mechanismcan include electro magnets on the guide rail 206 and the couplingstructure 208. In some examples, the force required to propel thepackage 204 from the UAV 202 can be applied by causing a current to flowthrough the electro magnets. In this example, the amount of forceapplied onto the coupling structure 208 is proportional to the currentthat flows through the electromagnets.

In other examples, the force required to propel the package 204 from theUAV 202 can be generated by compressed air canisters. In other examples,the force can be generated using a controlled explosion.

In various examples, the release force applied onto the couplingstructure 208, by one of the actuator device 210 or electromagnets cancause an equal and opposite reaction force to be applied onto the UAV202. In some examples, the reaction force can occur in a direction thatcorresponds to the horizontal motion of UAV 202. Therefore, by applyinga release force onto the package 204, the UAV 202 can receive a boost ofacceleration in its direction of motion. The boost of acceleration canassist the UAV 202 to climb to a higher cruise altitude or accelerate atthe current cruise altitude towards its next destination.

FIG. 3 is a pictorial view of a UAV 302 carrying a package 304, andforcefully propelling the package 304 from the UAV 302 via a launchmechanism. In various examples, the launch mechanism can include a guiderail 306, a coupling structure 308, and a parachute 310. In someexamples, the guide rail 306 can correspond to guide rail 206. The guiderail 306 can comprise of a longitudinal member having a uniformcross-section. In various examples, the guide rail 306 can be attachedto the UAV 302 at each end position.

The coupling structure 308 can correspond to coupling structure 208. Invarious examples, the coupling structure can acts as an interfacebetween the package 304 and the UAV 302, by interfacing between thepackage 304 and the guide rail 306. The coupling structure 308 caninclude a release joint that interfaces with the package 304, such asbut not limited to a pre-tensioned clamp or a ball socket joint.

In some examples, the launch mechanism can also include a parachute 310.The UAV 302 can cause parachute 310 to deploy once the UAV 302 is at aparticular altitude over the delivery destination. In some examples, theUAV 302 can include an electronic parachute deployment system, whichcauses the parachute to deploy at a time when the UAV 302 is at theparticular altitude over the delivery destination. In other examples,the parachute 310 can be mechanically deployed by pulling a release cordon the parachute 310. For example, the launch mechanism can include anactuator device 312 that causes the coupling structure 308 to traversealong the guide rail 306. In some examples, the release cord on theparachute 310 can be coupled to a fixed position on the UAV 302 suchthat a predetermined displacement of the coupling structure 308 alongthe guide rail 306 can cause the parachute 310 to mechanically deploy.

In various examples, the actuator device 312 can correspond to actuatordevice 210. The actuator device 312 can comprise of a pneumaticactuator, a spring actuator, or any other actuator device that isconfigured to store and release kinetic energy within a predeterminedtime period.

In various examples, the parachute 310 is deployed while the UAV 302 isstill in motion. Therefore, since the parachute 310 is deployed in thehorizontal plane, the parachute 310 can generate a drag force that isequal and opposite to a force equivalent to the acceleration of the UAV302. In doing so, the resultant force on the package 304 can cause thedescent trajectory of the package 304 to change from a parabolictrajectory that runs in the direction of the UAV 302, to a verticaldescent trajectory.

Moreover, unlike the release force applied by actuator devices describedin FIG. 2, the drag force generated by the parachute 310 does not causea boost in acceleration that assists the motion of the UAV 302. This isbecause the UAV 302 does not apply the release force onto the package304. Instead, the drag force is generated aerodynamically by thedeployment of the parachute 310.

In various examples, the drag force generated by the parachute 310 canalso correspond to the force required to dislodge the package 304 fromthe coupling structure 308 of the UAV 302. In some examples, theparachute 310 can be dislodged from the package at the same time thepackage 304 is dislodged from the coupling structure 308 of the UAV 302.In doing so, this ensures that the deceleration applied to the package304 is equal and opposite to the horizontal acceleration of the UAV 302.

In some examples, the parachute 310 can remain attached to the package304 after the package 304 is dislodged from the coupling structure 308of the UAV 302. In doing so, the parachute 310 can cause the package 304to further decelerate in the vertical direction during its descent.

FIGS. 4A and 4B are pictorial flow diagrams of a UAV 402 carrying apackage 404 and forcefully propelling the package 404 from the UAV 402via a launch mechanism that includes a lever arm. In various examples,the launch mechanism can include a guide rail 406, a lever arm pivotstructure 408, an actuator device 410, a lever arm 412, and a packageattachment structure 414. An advantage of including a lever arm 412 aspart of the launching mechanism is that the release force generated by alinear motion of the package 404 along the guide rail 406 can beproportionally amplified by the pivoted length of the lever arm 412.Therefore, if a package 404 requires a release force that exceeds thecapability of a launch mechanism, as described in FIGS. 2 and 3, thelever arm configuration, as described in FIGS. 4A and 4B, can be used toamplify the release force capability of the launch mechanism.

In the illustrated example of FIGS. 4A and 4B, the guide rail 406 cancorrespond to guide rail 206 and 306. The guide rail 406 can comprise ofa longitudinal member having a uniform cross-section. The guide rail 406can be attached to the UAV 402 at each end position.

In the illustrated example, the lever arm pivot structure 408 canprovide an interface between the UAV 402 and the lever arm 412. Thepurpose of the lever arm pivot structure 408 is two-fold. First, thelever arm pivot structure 408 can move along the guide rail 406 togenerate a release force that is ultimately transferred to the package404 at a point of release. The cross-section of the lever arm pivotstructure 408 can include an aperture that is complementary to at leasta portion of the guide rail 406 cross-section. In this example, theguide rail 406 can be slotted through the aperture of the lever armpivot structure 408, such that the lever arm pivot structure 408 canmove unimpeded along the length the guide rail 406.

Second, the lever arm pivot structure 408 can provide a platform tocause a rotation of the lever arm 412. For example, the lever arm pivotstructure 408 can include a spring coil 416 that can cause the lever arm412 to pivot downwards. In doing so, the rotation of the lever arm 412can amplify the release force that is nominally generated by thehorizontal movement of a lever arm pivot structure 408 along the guiderail 406.

In the illustrated example, the launch mechanism can also include anactuator device 410. In some examples, the actuator device 410 cancorrespond to actuator device 210 and 312. In some examples, theactuator device 410 can cause the lever arm pivot structure 408 toaccelerate along the guide rail 406 from a first position at thelongitudinal center of the guide rail 406 to a second position that cancorrespond to an end position of the guide rail 406.

In the illustrated example, the launch mechanism can also include apackage attachment structure 414. The package attachment structure 414can couple the package 404 to the lever arm 412. The package attachmentstructure 414 can comprise of a release joint such as a pre-tensionedclamp or a ball socket joint. In various examples, the release joint canuncouple the package 404 from the lever arm 412 at a predetermined forcethat is equivalent to the release force of the package 404.

In various examples, the combined effect of the lever arm pivotstructure 408 moving along the guide rail 406, and the lever arm 412pivoting about the lever arm pivot structure 408 can cause an amplifiedrelease force to be applied onto the package 404 at a point of release.Moreover, the release force that is ultimately applied onto the packagecan cause an equal and opposite reaction force to be applied onto theUAV 402. In some examples, the reaction force can occur in a directionthat corresponds to the horizontal motion of UAV 402. Therefore, byapplying a release force onto the package 404, the UAV 402 can receive aboost of acceleration in its direction of motion. The boost ofacceleration can assist the UAV 402 to climb to a higher cruise altitudeor accelerate at the current cruise altitude towards its nextdestination.

FIG. 4C illustrates a pictorial flow diagram of a UAV 402 deploying apackage 404 via an attached line 418. In various examples, a line 418can include, but is not limited to, a wire, a cable, or a string. In theillustrated example, the UAV 402 can include a coil 420 of wire 418 thatlowers the package to a height from which the package 404 is released.In some embodiments, the UAV 402 may lower the package 404 to the groundlevel. In other embodiments, the UAV 402 may lower the package to aparticular release altitude at which the package 404 is released whilethe UAV 402 is still in motion.

In various examples, the coil 420 of wire 418 can attach onto a flywheel422 of the UAV 402. As depicted in FIG. 4D, the flywheel 422 may befurther coupled to an electric motor 424 that is secured to theunderside of the UAV 402. The electric motor 424 can cause the flywheelto rotate about its rotational axis. In doing so, the rotation of theflywheel results in the attached coil 420 rotating about the samerotational axis of the flywheel. In various examples, the circularmotion of the coil 420 can initiate a centripetal force on the package404 while the package 404 is attached to the wire 418. As the package404 is progressively lowered by the wire 418, the package 404 descentpath begins to follow progressively larger spirals, which cause thecentripetal force on the package 404 to progressively increase. Thisaction causes the system to operate similar to a “slingatron” launchingmechanism.

In some examples, the UAV 402 can release the package 404 in thedirection that is opposite to the motion of the UAV 402. Theacceleration force applied onto the package 404 at the point in time inwhich the package 404 is released is developed directly from thegenerated centripetal force. In some examples, the point in time inwhich the package 404 is released is based on producing an accelerationforce on the package 404 that is equal and opposite to the accelerationforce the UAV 402. As a result, the package 404 may follow a verticaldescent path to an intended delivery destination. Further, by applyingan acceleration force onto the package 404, the UAV 402 can receive aboost of acceleration in its direction of motion. The boost ofacceleration can assist the UAV 402 to climb to a higher cruise altitudeor accelerate at the current cruise altitude towards its nextdestination.

FIGS. 5A through to 5G illustrate various types of packages 502 that canbe deployed by a UAV 102, 202, 302 or 402. In various examples, thepackage 502 can include a plurality of sidewalls that combine to form areceptacle in between and an opening at a top rim. In various examples,items for delivery can be securely positioned within the receptacle ofthe package 502.

In various examples, items for delivery can be placed within thereceptacle of the package 502 in such a way that the package 502 isbottom heavy. A bottom heavy weight distribution can help the package502 follow a controlled descent after release from the UAV.

In some embodiments, the package 502 can include a lid 504 hinged to thetop rim of at least one sidewall. The lid can be formed to cover theopening of the receptacle. In some examples, the lid 504 can be aseparate part that is fitted over the opening at the top rim of thereceptacle. In other examples, the lid 504 can be integrated into atleast one sidewall, such that the lid 504 is formed by folding down aprotruding section of at least one sidewall. In some examples, the lid504 can also be hinged to a section of at least one sidewall that isbelow the top rim. In other examples, the lid 504 can be hinged to afixed portion of a top surface of the package 502.

In the illustrated example, package 502 can include a mounting mechanism506 that is configured to selectively couple to the lid 504. In otherexamples, the mounting mechanism 506 can be coupled to a sidewall of thepackage 502 receptacle. The mounting mechanism 506 can interface withthe coupling structure 208 or 308 of the UAV, or the package attachmentstructure 414 of the UAV. In some examples, the mounting mechanism 506can comprise one-half of a pre-tensioned clamp or one-half of aball-socket joint. The mounting mechanism 506 can couple the package 502to the UAV at ground level and selectively uncouple from the UAV duringat the package delivery destination.

FIGS. 5A and 5B illustrate a package 502 that includes a plurality ofsidewall control surfaces 508. In various examples, the sidewall controlsurfaces 508 can be hinged to one or more edges of a top surface of thepackage 502. An advantage of hinging the sidewall control surfaces 508to edges of a top surface is that while the package 502 is descending,upward air resistance can help deploy the sidewall control surfaces 508.In other examples, the sidewall control surfaces 508 can pivot from oneor more edges of a bottom surface of the package 502. In this instance,the package may require mechanical controllers to pivot the sidewallcontrol surfaces 508 downward from a closed position to an openposition. An advantage of pivoting the control surfaces from a bottomsurface of the package 502 is that the sidewall control surfaces 508 canhelp the package 502 remain upright after landing at the deliverydestination. For example, when deployed, the sidewall control surfaces508 can increase a landing surface area of the package 502. The increasein landing surface area can help prevent the package 502 from turningover onto a sidewall after landing at the delivery destination.

In various examples, the sidewall control surfaces 508 can remain in aclosed position during a transportation phase of the UAV. In the closedposition, the sidewall control surfaces 508 are stowed proximate to thesidewalls of the package 502 and secured in place by a locking mechanism510. In some examples, the locking mechanism 510 can be triggered torelease a sidewall control surface 508 in response to the package 502receiving an RF signal.

In some examples, the sidewall control surfaces 508 can include aplurality of cords 512 that further couple each sidewall control surface508 to a corresponding sidewall of the package 502. The purpose of theplurality of cords 512 is to limit the rotational travel of eachsidewall control surface 508 when the sidewall control surface 508 isdeployed. In the illustrated example, one sidewall control surface508(1) is shown in a closed position, while the remaining three sidewallcontrol surfaces 508(2) are shown in an open position. The sidewallcontrol surfaces 508 can remain in a closed position until aninstruction is received from the UAV. In some examples, the instructionis sent as an RF signal from the UAV to release the locking mechanism.

In the illustrated example, the package 502 can include a radiofrequency (RF) receiver 514. The RF receiver 514 can be coupled to asidewall surface inside the receptacle of the package 502. In variousexamples, the RF receiver 514 can be configured to receive a signal fromthe UAV that corresponds to opening a locking mechanism 510 thatcorresponds to one or more of the sidewall control surfaces 508.

In the illustrated example, the package 502 can include unique markings516(1) on each side wall of the package 502 as well as a unique marking516(2) 518 on the lid 504 surface. In some examples, the unique markings516 can comprise of different colors, patterns, universal product codes(UPC) or quick response (QR) codes. As discussed in more detail below inFIG. 7, the unique marking 516 on each sidewall and top surface can bedifferent to help the UAV track an orientation and descent path of thepackage 502.

FIG. 5C illustrates a side elevation view of a package 502 that includestop side control surfaces 518 on a lid 504 of the package 502. FIG. 5Cdepicts the package 502 with one top side control surface 518(1) in adeployed position and a second top side control surface 518(2) in astowed position. In various examples, the top side control surfaces 518can be included in combination with the sidewall control surfaces 508described in FIGS. 5A and 5B. In some examples, the geometry of thesidewall control surfaces 508 may be modified in order to accommodatethe vertical fin(s) 528 being stowed against a sidewall of the package502.

In various examples, the package 502 can include multiple top sidecontrol surfaces 518. In the illustrated example, the package 502 isdepicted as including four top side control surfaces 518. As shown inFIG. 5D, the top side control surfaces 518 can be positioned adjacent tothe mounting mechanism 506. In some examples, the package 502 caninclude two top side control surfaces 518 that span a length of thepackage 502 on either side of the mounting mechanism 506. In otherexamples, the package 502 can include two top side control surfaces 518that span a width of the package 502 on either side of the mountingmechanism 506. In some examples where the mounting mechanism 506 islocated on a bottom surface of the package 502, the package 502 caninclude one top side control surface 518.

In various examples, each top side control surface 518 can be coupled tothe lid 504 of the package 502 using one or more pairs of cords. Eachpair of cords can include a long cord 520 and a short cord 522. Eachlong cord 520 and each short cord 522 can have a first end and a secondend. In the illustrated example, the long cord 520 can have a longerlength than the short cord 522. In some examples, each top side controlsurface 518 can be coupled to the lid 504 using a stiffened supportmembers, rather than cords. For example, a stiffened support member caninclude tension cables or rigid wires that provide the top side controlsurface 518 a level of rigidity when deployed.

In some examples, each pair of cords can be coupled to separate cornersof the top side control surface 518. As discussed in more detail below,the purpose of having a long cord 520 and a short cord 522 is to providethe top side control surface 518 with an angle of attack relative tofree stream airflow.

In the illustrated example, each corner of a top side control surface518 is secured onto the lid 504 of package 502 using both the long cord520 and the short cord 522. For example, a first end of the long cord520 and a first end of the short cord 522 can be securely coupled to acorner of a top side control surface 518. Further, the second end of theshort cord 522 can be securely coupled to a first release mechanism 524that is positioned on the lid 504 of the package 502. In variousexamples, the first release mechanism 524 is intended to release a holdof the second end of the short cord 522 in response to receiving an RFsignal from the UAV.

In the illustrated example, the second end of the long cord 520 can besecurely attached to the lid 504 of the package 502. Further, a secondrelease mechanism 526 can be positioned on the lid 504 of the package502 adjacent to the long cord 520 attach point on the lid 504 of thepackage 502. The second release mechanism 526 can be selectively coupledto a position on the long cord 520 that is near the first end of thelong cord 520. In doing so, the long cord 520 length between the topside control surface 518 and the second release mechanism 526 can beminimized, thus holding each corner the top side control surface 518close to the lid 504 of the package 502.

In various examples, the UAV can simultaneously transmit an RF signal tothe first release mechanism 524 that is coupled to the short cord 522and the second release mechanism 526 that is coupled to the long cord520. In this example, the first release mechanism 524 can cause thesecond end of the short cord 522 to release and float in the freestreamairflow. Further, the second release mechanism 526 can release the longcord 520 from its coupling position near its first end. In doing so, thecorner of the top side control surface 518 can deploy away from the lid504 of the package 502 by the length of the long cord 520.

In another embodiment, the UAV can transmit an RF signal only to thesecond release mechanism 526. In this example, the long cord 520 can bereleased from its coupling position near its first end causing thecorner of the top side control surface 518 can deploy away from the lid504 of the package 502. However, since the first release mechanism 524has not been triggered, the corner of the top side control surface 518can only deploy away from the lid 504 of the package 502 by the lengthof the short cord 522.

In various examples, different combinations of triggering each firstrelease mechanism 524 and each second release mechanism 526 at eachcorner of a top side control surface 518 can cause the top side controlsurface 518 to deploy away from the lid 504 of the package 502 atdifferent angles of attack relative to the freestream airflow.

FIG. 5E illustrates an embodiment of the package 502 that can include aplurality of vertical fin(s) 528 that deploy away from the sidewalls ofthe package 502. An advantage of including vertical fin(s) 528 on thepackage 502 is that the descent path can be stabilized undercircumstances where the package begins to spin or is subject to aturbulent airstream. Another advantage of deploying the fins prior tolanding is that the landing surface area of the package 502 is increasedwhen the vertical fin(s) 528 are deployed. As a result, the increase inlanding surface area can help prevent the package 502 from turning overonto a sidewall after landing at the delivery destination.

FIG. 5E illustrates a side elevation view of a package 502 that includesfour vertical fin(s) 528 at hinge at the vertical sidewall edges of thepackage 502. FIGS. 5E and 5F depict the package 502 with two verticalfin(s) 528(1) and 528(3) in a deployed position and two vertical fin(s)528(2) and 528(4) in a stowed position. In various examples, thevertical fin(s) 528 can be included in combination with the sidewallcontrol surfaces 508 described in FIGS. 5A and 5B, and the top sidecontrol surfaces 518 described in FIGS. 5C and 5D. In FIG. 5D, thesidewall control surfaces 508 have been omitted for clarity.

In various examples, each vertical fin(s) 528 can be hinged at or near avertical sidewall edge of the package 502. In some examples, eachvertical fin(s) 528 may be coupled to a vertical sidewall edge of thepackage 502 using a spring hinge 530. The spring hinge 530 can apply arotational force onto the vertical fin(s) 528 that causes the verticalfin(s) 528 to deploy. In a stowed position, the vertical fin(s) 528 canbe secured onto a sidewall surface of the package 502 using a releasemechanism 532. The release mechanism 532 can selectively uncouple fromthe vertical fin(s) 528 in response to receiving an RF signal from theUAV. Once uncoupled, the rotational force of the spring hinge can causethe vertical fin(s) 528 to deploy outward. In some examples, a cord 534can interface between a position on the vertical fin(s) 528 and aposition on a sidewall of the package 502. The cord 534 can limit therotational travel of the vertical fin(s) 528 that is caused by thespring hinge 530.

FIG. 5G illustrates an embodiment of the package 502 that can include aplurality of parachutes 536 that deploy from the lid 504 of the package502. In various examples, the package 502 can include multipleparachutes 536. In the illustrated example, the package 502 can includefour parachutes 536, positioned at or near each corner of the lid 504 ofthe package 502. In some examples, the package 502 can may include one,two, or three parachutes 536 that deploy at or near the lid 504 of thepackage 502. The parachutes 536 can be secured onto the lid 504 of thepackage 502 using a long length cord 538 and a short length cord 540.The purpose of using different length cords to ensure that eachparachute 536 does not interfere with an adjacent parachute 536 that hasdeployed.

In various examples, a release mechanism 542 can be used to deploy eachparachute 536. The release mechanism 542 can be triggered by an RFsignal from the UAV. In various examples, the UAV can simultaneouslytransmit an RF signal to deploy all parachutes 536 at the same time. Insome examples, the deployment of all the parachutes 536 may be staggeredin time in order to change the descent path of the package 502. In otherexamples, less than all of the parachutes 536 may be deployed.

In the illustrated example, the package 502 can include the parachutes536 in combination with the sidewall control surface 508 described inFIGS. 5A and 5B and the vertical fin(s) 528 described in FIGS. 5E and5F. In FIG. 5G, the vertical fin(s) 528 have been omitted for clarity.

FIGS. 6A and 6B illustrate a package 602 that is deployed by a UAV 102,202, 302 or 402. In various examples, the package 602 can include abottom surface, a plurality of sidewalls, with each sidewall having atop rim. The bottom surface and the plurality of sidewalls can combineto form a receptacle in between and an opening at the top rim. Invarious examples, items for delivery can be securely positioned withinthe receptacle of the package 602.

In the illustrated example, the package 602 can include a lid 604 hingedto the top rim of at least one sidewall. The lid can be formed to coverthe opening of the receptacle. In some examples, the lid 604 can be aseparate part that is fitted over the opening at the top rim of thereceptacle. In other examples, the lid 604 can be integrated into atleast one sidewall, such that the lid 604 is formed by folding down aprotruding section of at least one sidewall.

In the illustrated example, the package 602 can include a mountingmechanism 606 that is configured to selectively couple to the lid 604 ora sidewall of the package receptacle. The mounting mechanism 606 cancorrespond to the mounting mechanism 506. The mounting mechanism 606 cancouple the package 602 to the UAV at ground level and selectivelyuncouple from the UAV during package delivery.

In the illustrated example, the package 602 can include a plurality ofcompressed air canisters 608. The compressed air canisters 608 can beused to adjust the descent path of the package 602 after the package 602has been released from the UAV. In various examples, the compressed aircanisters 608 can be secured on the sidewalls of the package 602 by astrap 610. In some examples, the strap 610 can be fabricated from aflexible material such as nylon. In various examples, the strap 610 canbe bonded on to the sidewalls of the package 602 using a suitableadhesive.

In the illustrated example, the package 602 can include a radiofrequency (RF) receiver 612. The RF receiver 612 can be coupled to asidewall surface inside the receptacle of the package 602. In variousexamples, the RF receiver 612 can be configured to receive a signal froma UAV that corresponds to releasing compressed air from at least one ofthe compressed air canisters 608. In some examples, the release ofcompressed air from compressed air canisters 608 can cause the package602 to adjust its descent path after being released from the UAV.

In the illustrated example, the package 602 can include unique marks 614on each sidewall of the package as well as another unique marking 616 onthe lid 604 surface. The unique marks 614 on each sidewall surface ofthe package 602 can be different in color. In addition, the uniquemarking 616 on the lid 604 surface can be different in color from theunique marks 614 on each sidewall surface of the package 602. Asdiscussed in more detail below in FIG. 7, the different colors of theunique marking 614 and 616 can be used by the UAV to confirm thetrajectory path of the package 602 during its descent path.

In some embodiments, the package 602 can include a plurality ofparachutes rather than compressed air canisters 608. For example,parachutes can be located at positions around the center of the package,similar to the compressed air canisters 608 positions shown in FIG. 6B.In some examples, the parachutes can be selectively deployed to adjustthe descent path of the package 602 after the package 602 has beenreleased from the UAV. For example, if a parachute is deployed at aposition left of the center of the package 602, the package 602trajectory will tend towards the right.

FIG. 7 illustrates a block diagram of components for a package launchcontroller 702 that supports package delivery by a UAV 704. In variousexamples, the package launch controller 702 is communicatively coupledto the launch mechanism of the UAV 704 and is configured to determineparameters that cause a package 706 to be deployed from the UAV, and tofollow an intended trajectory to a particular destination.

In various examples, the package launch controller 702 can acquiresensor data 708 from the UAV 704 via one or more networks. For example,the one or more network(s) 710 can include public networks such as theInternet, private networks such as an institutional and/or personalintranet, or some combination of private and public networks. Network(s)can also include any type of wired and/or wireless network, includingbut not limited to local area network (LANs), wide area networks (WANs),satellite networks, cable networks, Wi-Fi network, WiMax networks,mobile communications networks (e.g. 3G, 4G, and so forth), Bluetooth ornear field communication (NFC) networks, or any combination thereof.

In various examples the sensor data 708 that is acquired from the UAV704 can include sensor data 708 associated with the flightcharacteristics of the UAV 704 vehicle itself as well as sensor data 708associated with a descent trajectory of the package 706. For example,UAV 704 can be equipped with sensors that include at least an altimeter712, gyroscope 714, global positioning system (GPS) 716, pitot statictube 718, and optical sensors 720.

In various examples, the altimeter 712 is a pressure instrument that canbe used to determine the altitude of the UAV 704. The altimeter 712 canbe used to ensure that the UAV 704 is flying at a predetermined altitudefor release of the package 706 above a delivery destination. Thegyroscope 714 can be used to measure the orientation of the UAV 704. TheGPS 716 can be used to determine the geolocation of the UAV 704 as wellas the airspeed of the UAV 704 relative to the ground. In some examples,the pitot static tubes can be used to measure a local air velocity at agiven point in an airstream. In other words, the pitot static tubes 718can measure the UAV 704 air speed relative to a headwind, a tail wind,or a crosswind. In some examples, a direction and magnitude of aheadwind, tailwind and crosswind can be determined by using the airspeeds measured by a pitot static tube 718 and the relative ground speedmeasured by a GPS 716 instrument.

In some examples, sensor data 708 can also include data from opticalsensors 720 on the UAV 704. In various examples, the optical sensors 720can monitor an orientation of the package 706 after it is released fromthe UAV 704. Particularly, the optical sensors 720 can include digitalcameras that monitor unique marks on the sidewalls and lid of thepackage 706 while the package is descending. In various examples, theunique marks on each sidewall surface and lid of the package 706 aredifferent in color. As a result, a view of a particular color imprint,or sequence of unique marks via the optical sensors 720 can help thepackage launch controller 702 to discern an orientation of the package706 during descent. For example, if the optical sensors 720intermittently view some unique marks, the package launch controller 702may determine that the package 706 is spinning. In response, the packagelaunch controller 702 can cause the UAV 704 to deploy one or morecontrol surfaces to stabilize the package 706 during descent. In otherexamples, the view of particular unique marks via the optical sensors720 could help the package launch controller 702 determine that thepackage 706 is orientated in such a way that a sidewall is likely tostrike the ground first, rather than a bottom surface of the package706. As a result, the package launch controller 702 can cause the UAV704 to deploy one or more control surfaces that re-orient the package706 in such a way that the bottom surface of package 706 strikes theground first.

In various examples, the package launch controller 702 can include oneor more processor(s) 722 operably connected to the computer-readablemedia 724. The package launch controller 702 can also include one ormore interfaces 726 that enable communication with other networkeddevices, such as the UAV 704. The one or more interfaces 726 can includenetwork interface controllers (NICs), I/O interfaces, or other types oftransceiver devices to send and receive communications over a network.For simplicity, other computers are omitted from the illustrated UAV704.

The computer-readable media 724 may include volatile memory (such asRAM), non-volatile memory, and/or non-removable memory, implemented inany method or technology for storage of information, such ascomputer-readable instructions, data structures, program modules, orother data. Some examples of storage media that may be included in thecomputer-readable media include, but are not limited to, random accessmemory (RAM), read only memory (ROM), electrically erasable programmableread only memory (EEPROM), flash memory or other memory technology,compact disk (CD-ROM), digital versatile disks (DVD) or other opticalstorage, magnetic cassettes, magnetic tape, magnetic disk storage orother magnetic storage devices, or any other medium which can be used tostore the desired information and which can be accessed by a computingdevice.

In some embodiments, the computer-readable media 724 can include asensor data processing module 728, a flight data module 730, a packagelaunch module 732, and a package control surface module 734. In variousexamples, the sensor data processing module 728 can receive the sensordata 708 from the UAV 704. The sensor data processing module 728 canfurther process the sensor data to determine environmental conditionssuch as a magnitude and direction of wind, as well as a free streamairspeed of the UAV 704, and ground speed of the UAV 704.

In various examples, the flight data module 730 can receive processedsensor data from the sensor data processing module 728 to determine anorientation of the UAV 704 immediately before the package is released.In some examples, the UAV 704 may alter its direction of flight to headdirectly into a headwind before releasing the package 706. By flyingdirectly into a headwind, the UAV 704 may reduce the force by which itreleases the package.

In some examples, the package launch module 732 can receive processedsensor data from the sensor data processing module 728 to determine themagnitude of the release force by which package is to be released fromthe UAV 704. In various examples, factors that can affect the magnitudeof the release force include the weight of the package 706, the surfacearea of the package 706 that is perpendicular to the horizontal motionof the UAV 704, and the magnitude and direction of wind relative to thedirection and motion of the UAV 704. In response to determining themagnitude of the release force, the package launch module 732 cantransmit a signal to the UAV 704 that causes the UAV 704 to release thepackage with the determined release force.

In various examples, package control surface module 734 can receiveprocessed sensor data from the sensor data processing module 728 todetermine whether to deploy one or more control surfaces of the package706 after the package 706 is released from the UAV 704. In someexamples, the processed sensor data can include views of unique marksthat indicate that the package 706 is descending in an improperorientation. As a result, the package control surface module 734 candetermine that one or more control surfaces can be deployed to helpre-orient package. In some examples, the package control surface module734 can also determine a particular sequence of deploying individualcontrol surfaces.

In various examples, the package control surface module 734 candetermine a sequence of deploying the one or more control surfaces thatallows the package 706 to alter its descent path. In some examples, thedescent path may be altered to avoid an obstruction such as a tree orother structure such as a carport. In other examples, the descent pathmay be altered in order to allow the package to be delivered on abalcony of particular high-rise building.

In some embodiments, the package control surface module 734 can transmita signal to the UAV 704 that indicates the determined sequence ofdeploying the one or more control surfaces. In response, the UAV 704 canfurther transmit an RF signal to the package 706 that instructs thepackage 706 to deploy the one or more control surfaces is the prescribedsequence.

In various examples, the package 706 can receive the RF signal from theUAV 704 at an RF receiver 736 located within the package 706 receptacle.The package 706 can further include a controller 738. In response toreceiving an RF signal from the UAV, the controller 738 can cause one ormore locking mechanisms 740 to unlatch and deploy corresponding controlsurfaces on the package 706. As discussed earlier in more detail in FIG.5, the locking mechanisms 740 can be situated on the package 706 to fixthe one or more control surfaces into a closed position. Once thelocking mechanisms 740 unlatch the control surfaces, airflows duringdescent can cause the control surfaces to automatically deploy. In someexamples, the control surfaces can include flat panels as depicted inFIG. 7. In other examples, the control surfaces can include parachutes,aerodynamic flaps, or slats.

FIG. 8 illustrates a flow diagram of a package delivery system on a UAVthat causes the launch of a package. The flow diagram further describesmonitoring the descent of package to transmitting signals to deploycontrol surfaces on the package to ensure safe delivery to the deliverydestination.

At 802, a package launch and control system can receive sensor data fromone or more sensors on the UAV. The sensor data can be used to determineflight data and geo-location data of the UAV and the package. In someexamples, the flight data can include wind speed a wind direction, aswell as a package launch altitude and launch geolocation.

At 804, a package launch module of the package launch and control systemcan determine a predetermined force that can cause the package to followa vertical descent path based at least in part on the sensors data. Thepredetermined force is nominally equivalent to the magnitude of theacceleration force of the UAV at the point in time when the UAV releasesthe package. In some examples, the predetermined force can be decreasedor increased from its nominal value in response to the prevalence of aheadwind or a tailwind. Other factors that can affect the determinationof the predetermined force include the surface area of the package thatis perpendicular to the horizontal motion. For example, a package with alarge surface area is likely to cause significant drag, meaning thatless force is required to establish a vertical descent path.

At 806, UAV package launch assist apparatus causes a launch mechanism toapply the predetermined force to the package. In response, the packagemay traverse from the UAV and commence a substantially vertical descentpath. In various examples, the launch mechanism can include a pneumaticactuator, a spring coil, electromagnets, or a parachute that is attacheddirectly onto the package.

At 808, once the package is released from the UAV, the UAV can monitorthe vertical descent path of the package using one or more opticalsensors. In some examples, the package may include unique markings ondifferences sidewalls, such that the orientation and trajectory of thepackage be determined by identifying which colored imprints are visibleto the optical sensors of the UAV.

At 810, the UAV can identify a side of the package based on a uniquemarking viewed through the one or more optical sensors. The UAV may alsoassociate a particular control surface with the side of the package. Forexample, if a left side of the package is identified by unique markings,then a control surface on the right side of the package may beassociated with the left side of the package. The purpose of associatinga control surface that is opposite to the identified surface is becausea change in orientation of a particular side of the package generallyrequires a control surface to be deployed on the opposite side of thepackage.

At 812, in response to determining that the package requires a coursecorrection, the package launch and control system can determine asequence of deploying one or more control surfaces on the package thatcan alter the vertical descent path of the package. In some examples,the vertical descent path may be altered to avoid an obstruction such asa tree or a carport. In other examples, the one or more control surfacesmay be deployed to restore stability to the descent orientation of thepackage.

At 814, an RF module of the package launch and control system cantransmit a signal to the package indicating the sequence for deployingthe one or more control surfaces. In various examples, a portion but notall of the control surfaces can be deployed in order to generate therequired descent correction or orientation adjustment.

FIG. 9 illustrates a flow diagram of a package receiving an RF signalfrom a UAV and deploying one or more control surface in response to theRF signal.

At 902, the package can receive an RF signal from a UAV to deploy one ormore control surfaces on the package. The one or more control surfacescan be deployed to cause a change to the trajectory of the verticaldescent path of the package. In some examples, the change in trajectorycan help avoid an obstruction in the descent path of the package. Invarious examples, the RF signal can include instructions to include aportion of the control surfaces. In other examples, the RF signal caninclude instructions to deploy all control surfaces. In yet anotherexample, the RF signal can include instructions to deploy some or all ofthe control surfaces in a particular sequence. The particular sequencemay assist the package in avoiding obstructions or regaining a morestable orientation.

At 904, the RF signal can cause the one or more control surfaces of thepackage to deploy, thereby changing the trajectory of the package. Insome examples, the one or more control surfaces may comprise of flatpanels that are hinged about the top rim of each sidewall of thepackage. In these examples, the control surfaces can be deployed byunlatching a locking mechanism that holds the controls surfaces in aclosed position. Alternatively, if the one or more control surfacescomprise of compressed air canisters, the control surfaces can bedeployed by casing the compressed air canisters to expel compressed airfor a predetermined period of time.

CONCLUSION

Although the subject matter has been described in language specific tostructural features and/or methodological acts, it is to be understoodthat the subject matter defined in the appended claims is notnecessarily limited to the specific features or acts described herein.Rather, the specific features and acts are disclosed as illustrativeforms of implementing the claims.

What is claimed:
 1. An unmanned aerial vehicle (UAV), comprising: aframe; one or more propulsion units coupled to the frame; a packagecoupling structure to selectively couple a package to the UAV duringtransport of the package by the UAV; and an actuation device coupled tothe frame and package coupling structure, the actuation device includinga line coupled to a flywheel assembly having a first axis of rotationand a motor coupled to the flywheel assembly, the motor causing theflywheel assembly to rotate about the first axis of rotation, a spoolhaving a second axis of rotation, the spool coupled to the flywheelassembly and coupled to one end of the line, the actuation deviceconfigured to lower the package from the UAV by paying out the line andimpart a lateral trajectory of the package different than a lateraltrajectory of the UAV via rotation of the flywheel assembly.
 2. The UAVof claim 1, further comprising: a motor coupled to the spool, the motorcausing the spool to rotate about the second direction of axis.
 3. TheUAV of claim 2, wherein the spool is coupled to the flywheel assembly ator near a perimeter of the flywheel assembly.
 4. The UAV of claim 1,wherein the flywheel assembly is configured to impart the lateraltrajectory of the package as being equal and opposite that of thelateral trajectory of the UAV.
 5. The UAV of claim 1, wherein thepackage coupling structure is configured to release the package, basedin part, on an acceleration force on the package being at least equaland generally opposite an acceleration force on the UAV.
 6. The UAV ofclaim 1, wherein the package coupling structure is configured to releasethe package, based in part, on the package commencing a substantiallyvertical path toward an intended delivery destination.
 7. The UAV ofclaim 1, wherein rotation of the flywheel assembly about the first axisof rotation causes a predetermined force to be imparted onto thepackage.
 8. A package deployment mechanism, comprising: a flywheelhaving a first axis of rotation; a spool coupled to the flywheel, thespool having a second axis of rotation and configured to pay out theline; a line coupled to the flywheel and coupled directly or indirectlyto a package; and a motor coupled to the flywheel causing the flywheelto rotate about the first axis of rotation, wherein rotation of theflywheel causes a predetermined force to be imparted onto the package.9. The package deployment mechanism of claim 8, further comprising amotor coupled to the spool, the motor causing the spool to rotate aboutthe second axis of rotation.
 10. The package deployment mechanism ofclaim 8, wherein rotation of the flywheel assembly about the first axisof rotation causes a predetermined force to be imparted onto thepackage.
 11. The package deployment mechanism of claim 8, wherein thepredetermined force is based, in part, on a distance of the lineextending between the package and the flywheel.
 12. The packagedeployment mechanism of claim 8, wherein the line includes a wire, acable, a cord, a string, or a spring.
 13. The package deploymentmechanism of claim 8, wherein the package is coupled directly to theline.
 14. A package launch mechanism, comprising: a flywheel having afirst axis of rotation; a spool coupled to the flywheel, the spoolhaving a second axis of rotation; a line having a first end and a secondend, the first end of the line coupled to the spool and the second endof the line coupled directly or indirectly to a package, a portion ofthe line wound around the spool; and a motor coupled to the flywheelcausing the flywheel to rotate about the first axis of rotation, whereinrotation of the flywheel about the first axis of rotation causes apredetermined force to be imparted onto the package.
 15. The packagelaunch mechanism of claim 14, further comprising a motor coupled to thespool, the motor causing the spool to rotate about the second axis ofrotation, wherein rotation of the spool in a first direction causes thesecond end of the line to move closer to the spool and rotation of thespool in a second direction causes the second end of the line to moveaway from the spool.
 16. The package launch mechanism of claim 14,further comprising a disengagement mechanism configured to release thepackage, based in part, on the package commencing a vertical path towardan intended delivery destination.
 17. The package launch mechanism ofclaim 14, further comprising: a frame to support at least the packagelaunch mechanism; and one or more propulsion units coupled to the frameto generate thrust to cause movement of the frame.
 18. The packagelaunch mechanism of claim 17, wherein the predetermined force imparts alateral trajectory on the package that is different from a lateraltrajectory of the frame.
 19. The package launch mechanism of claim 18,wherein the lateral trajectory of the package is generally opposite thatof the lateral trajectory of the frame.